Dynamic task allocation in cooperative robot teams
نویسندگان
چکیده
In this paper a dynamic task allocation and controller design methodology for cooperative robot teams is presented. Fuzzy logic based utility functions are derived to quantify each robot’s ability to perform a task. These utility functions are used to allocate tasks in real-time through a limited lookahead control methodology partially based on the basic principles of discrete event supervisory control theory. The proposed controller design methodology accommodates flexibility in task assignments, robot coordination, and tolerance to robot failures and repairs. Implementation details of the proposed methodology are demonstrated through a warehouse patrolling case study.
منابع مشابه
Literature Review
Efficient and effective teamwork amongst autonomous robots in a dynamic environment is a complex and open problem in Artificial Intelligence. During the last twenty to thirty years a number of techniques have been developed for addressing teamwork in closed environments. Other research has focussed on detailed areas of teamwork such as communication, coordination, task allocation, and planning....
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ورودعنوان ژورنال:
- Robotica
دوره 30 شماره
صفحات -
تاریخ انتشار 2012